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#include "xbee.h"
#include <usart/usart.h>
#include <os/mutex.h>
Mutex xbee_mutex;
void xbee_send(uint16_t type, int len, const uint8_t* buf) {
xbee_mutex.lock();
// Start and length.
usart_send(0x7e);
usart_send(((len + 16) >> 8) & 0xff);
usart_send((len + 16) & 0xff);
// Frame type and ID.
usart_send(0x10);
usart_send(0x01);
// Destination address.
usart_send(0x00);
usart_send(0x13);
usart_send(0xa2);
usart_send(0x00);
usart_send(0x40);
usart_send(0x6f);
usart_send(0x19);
usart_send(0xf1);
usart_send(0xff);
usart_send(0xfe);
usart_send(0x00);
usart_send(0x00);
uint8_t chsum = 0x83;
usart_send(type & 0xff);
chsum -= type & 0xff;
usart_send(type >> 8);
chsum -= type >> 8;
// Payload
for(int i = 0; i < len; i++) {
usart_send(buf[i]);
chsum -= buf[i];
}
usart_send(chsum);
xbee_mutex.unlock();
}
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